CN103330566B - Device and method for measuring and analyzing tracks and angles of hollow organs in body - Google Patents
Device and method for measuring and analyzing tracks and angles of hollow organs in body Download PDFInfo
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- CN103330566B CN103330566B CN201310249803.6A CN201310249803A CN103330566B CN 103330566 B CN103330566 B CN 103330566B CN 201310249803 A CN201310249803 A CN 201310249803A CN 103330566 B CN103330566 B CN 103330566B
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Abstract
The invention relates to a device for measuring and analyzing tracks and angles of hollow organs in a body and a method for measuring and analyzing the tracks and angles of the hollow organs in the body. The device and the method are used for measuring the tracks and angle variation in a living body or a non-living body through a catheter, for example, the tracks and angle variation of the hollow organs in the body. For the application in the living body, the device and the method are realized in a way that the catheter is introduced into an organ through an external opening of the body. The catheter contains sensory receptors, such as a gyroscope and an accelerometer; and by combining with other sensory receptors and stimulation technology, the moving trajectory and bending data of the catheter in the process of passing through the hollow organs can be provided.
Description
Technical field
The present invention relates to such as, for measuring track in biology or non-biological structures and real-time angular method and apparatus, internal body viscera hollow organ.For the application of field of biology, by from the outside adaptable opening of health by catheter introducer official.This conduit comprises sensor, such as gyroscope and accelerometer.In its process by hollow organ, sensor can be independent, or combine with other sensor or stimulating technology, provides catheter trajectory and bending data.
Background technology
Human viscera organ has different functions.The geometry of some organs is tubulose, one of its function for transmitting the content in tube chamber, as the blood in blood vessel and heart, the urine in urinary tract and the liquid in gastrointestinal tract and semisolid content.The present invention is applicable to the hollow structure of all tube chamber internal organs, even inorganic matter, but preferred application is at gastrointestinal (GI) road and urinary tract.
Gastrointestinal tract is made up of different tube chamber shape organs, and as pharynx, esophagus, stomach, small intestinal and large intestine comprise rectum.The tube wall muscle specialization connecting different piece becomes so-called sphincter, and sphincter is being separated by these different chamber portions of closedown under normal circumstances.Sphincteral function is, regulates organ content flow and prevents adverse current (backflowing).A lot of disease is relevant with caused symptom with internal organs dysfunction, as gastrointestinal tract, and urinary tract and cardiovascular system.Symptom is usually that source is not clear.Gastrointestinal example has gastroesophageal reflux disease (GERD), Non-erosive reflux disease (NERD), functional dyspepsia, irritable bowel syndrome and fecal incontinence.Urinary incontinence or partial blockage may be there is at urinary tract.But, in clinical practice, be often difficult to specificity and its real origin of confirming symptom.The task of top priority is a kind of equipment of exploitation and method, and it can provide the data of internal organs normal function and geometrical property, and can analyze the dysfunction of internal organs and symptom.Such equipment and method, also can be used for treatment assessment, gives P&S to instruct (as surgical reconstruction and the endoscopic procedure preventing reflux) in interventional procedure.
Develop the function of a lot of technique study internal organs up to now.Certain methods comprises pressure record, and pH value is measured, chemical measurement, medical image, etc.Other technology comprises to the bladder of the placement in internal organs pipe, for test function, excites symptom or treatment various disease.
As everyone knows, the angle of bend of hollow organ is relevant with symptom with the function of organ.Such as, once had theory to think, it is extremely important that the angle that esophagus enters stomach enters backflowing of esophagus to acid from stomach, and anorectal angle is extremely important to defecation.It is relevant that moment of such as lower oesophageal sphincter lax (TLESPR) and acid reflux enter esophagus, and this relevant compliance seeming to depend on esophageal sphincter, enters the angle of stomach and diaphragm foot (angle when namely esophagus passes through diaphram and between diaphram).
Except carrying out loaded down with trivial details analysis to the data obtained by medical image, in above-described method, neither one can provide the angle information of organ specific part.At present, the analysis about anal orifice and rectal intestine angle can be estimated by defecation video, because when defecation, anus and rectum junction move down, and therefore anal orifice and rectal intestine angle can in defecation pre-test.But such research is due to the radiation of radiation and tediously long analysis and seem very inconvenient.Therefore, we need new technology to take measurement of an angle and the geometry relevant to organ dysfunction or mechanical measurement.Current existing many sensors, comprise gyroscope, and their size makes to place these sensors at inside of human body becomes possibility.
Endoscope is widely used by modern medicine.It is inner that they are mainly used in viewing gastrointestinal, and with tissue biopsy, but they are not used to the measurement of other type usually.In order to see more clearly, doctor generally can rotate or bendable endoscope.Describe a kind of device in CN102711587A, can human body be entered, thus the better clearer bat CT sheet that assists a physician.Perhaps, this device can be arranged on the endoscope for some organ temporarily.It contributes to locating various body structure, but depends on imaging technique, as CT.In addition, in this kind of technology, do not comprise the mensuration of orientation, do not comprise such as advanced in the present invention gyroscope equipment.
Describe a kind of device in CN101632572A, be a multiarticulate endoscope, can bend and with a lot of sensors.Its main purpose is movable more convenient in intestinal, and reduces pain to patient.The present invention's main distinction with it comprises one or more gyroscope, is provided in details and the orientation of the mobile device on one or more position.In addition, the present invention does not need doctor to carry out specially bending apparatus, because apparatus of the present invention are very soft, can against intestinal tendency thus flexural measurement and change angle.
Be described in US 6,216,028B1, determine position and the direction of medical treatment device in vivo by a kind of method.This technology mainly can be sent to the multiple Magnetic Sensors on the equipment that is arranged on outside human body based on the Magnet on equipment.The shortcoming of this patent is, can accurately not measure the position with phase magnet.The shortcoming that another one is very large is, it only can comprise a Magnet, and the present invention has the azimuthal measurement of degree of precision and one can provide the mobile device of detailed data along organ linear measure longimetry, and this mobile device comprises multiple gyroscope.Another one advantage of the present invention can carry out concrete mathematical calculation according to multiple gyrostatic data.
CN101048100A is a kind of device that can obtain body internal information, and it comprises the electrical stimulation device to surrounding tissue.The main aspect that the present invention is different from it is that the present invention is not arranged containing electricity irritation, and CN101048100A is not also containing core element of the present invention, and namely one contains gyrostatic capsule, can provide concrete data and determine orientation.
Summary of the invention
The object of this invention is to provide a kind of measurement and analyze the track of health cavity organ and the device of angle, it can measure angle and the acceleration of any cavity structure inside, but especially for the hollow organ of body.Another object of the present invention is, its technology is combined with other technology and equipment, for assessment of function and the symptom of organ, comprise organ stimulating, many-sided with the combination of other sensors, example has pressure transducer, force transducer, temperature receptor, pH electrode, chemoreceptor, the measurement of cross-sectional area, ultrasonic crystal and be provided with the conduit of coil.
Object of the present invention is realized by a kind of armarium.
The track of a kind of measurement and analysis health cavity organ and the device of angle, comprise the flexible conduit that can be inserted in body internal cavity organ, conduit has near-end and far-end, far-end near conduit is provided with at least two gyroscopes, gyroscope is used for measuring the data with the three-dimensional position of time correlation, to provide the data of track along conduit longitudinal axis and angle in catheterization procedure, the data of three-dimensional position are transmitted to external data acquisition equipment by wired or wireless mode.
Gyroscope combines the position and the dynamic mechanical information that obtain organ with accelerometer.
Catheter surface is with one or more sensors, and described sensor is selected from: strain gauge, piezometer, thermometer, piezo-electric apparatus, electrode sensor, ultrasonic sensor, pH recording equipment and/or electromyogram (EMG) recording equipment one or more.
The operating procedure of this armarium comprises:
A) from the outside acceptable opening of body surface by catheter introducer official,
B) Measuring Object is by the path (track) of organ, comprises angle and the translational speed in path,
C) angular surveying is measured with other and is combined.Such as geometry, mechanical force, chemical substance and temperature, or with or combine without air-breathing (provocatory maneuvres namely: hold the breath after dark air-breathing) with various stimulation, as passed through power, valsalva maneuvres(is namely: after dark air-breathing, mouth and nose is closed) during expiration, after Muller maneuvres(i.e. dark expiration, closed mouth and nose then air-breathing as possible, thus make the pressure of chest and pulmonary form negative pressure lower than atmospheric pressure) and the change angle such as tension variation.
According to the object of the invention, this device comprises a conduit, and it also has at least two sensors that can obtain organ angle.In a preferred technical scheme, a thin flexible conduit comprises a sensor, and gyroscope will be preferred, and it can measure the change of one dimension, two dimension or three-dimensional perspective, therefore along the length of conduit, it can provide relative angle and the relevant data of position.By in the process in organ path, this conduit can be manually controlled usually, thus obtains visual data or provide the data of organ tube chamber geometry, and such as relevant to organ major axis craspedodrome or angle change.In introducing process, the track of internal organs inner chamber can be obtained, namely relevant with distance to time location.In order to the more detailed information in position and dynamic mechanical obtaining organ, gyroscope can combine with acceleration analysis.
In another preferred technical scheme, conduit contains several gyroscope along its major axis.The advantage of this optimal technical scheme is, collected in the process of data by organ, gyroscope can be pushed away near or pull-out, but for obtaining data from fixing position for more time, it also can be positioned on a fixed position.This makes to become possibility to the measurement of physiological process, and as swallowed and defecation, and maneuvers (namely controlling one or more motions of breathing pattern) excites the process of organ dysfunction.The example of this maneuver, after Valsalva maneuver(and air-breathing, closes mouth and nose during expiration), this is one and moderate tries hard to the motion (namely after dark air-breathing, closing mouth and nose during expiration) that antagonism closed airway exhales.This enters the angle of appetite by changing esophagus, it can be measured by specific equipment.According to object, gyroscope and accelerometer can be placed as the distance of several millimeters or longer distance apart.The picture that bending organ and multiple interested part may need a lot of gyroscopes to provide detailed, and straight line portion may only need a sensor to obtain the data of needs.The mathematical analysis of data can provide the information of associated organ's detailed path.Analyze the analysis of normally geometric properties, comprise the Geometrical change with time correlation.In this respect, the angle of distance between sensor and each sensor will importantly be known.Analysis can provide organ in normal physiological process or accept three-dimensional geometry feature that is detailed and time correlation in stimulating course.Each gyroscope will provide the data in itself orientation.The analysis of gyro data will provide conduit upper bending data along its length.Several gyroscope will have superiority because have at least one can as a reference measure to correct Body Position Change.A sensor can be placed on extraorgan even on the surface of health, to correct body action.
Also a sensor for other types can be comprised, such as pressure transducer, force transducer in preferred technical scheme, or the sensor be associated with transmitter or the sensor of health outside.These sensors are attached to catheter surface can as following measuring device: the recording equipment of strain gauge, piezometer, thermometer, piezo-electric apparatus, electrode sensor, ultrasound wave sensor, pH or electromyogram (EMG) recording equipment.When the organ of human or animal accepts some artificial applying stimulations.It can measure some any stimulations manually applied: mechanical stimulus, thermostimulation, chemical stimulation, photostimulation and electricity irritation.
It should be noted that: transmitter, is a kind of device, only plays effect information being sent to the other end or a carrier from one end or carrier; Sensor is a kind of device, and can experience certain stimulates; Sensor is a kind of device, and can experience certain stimulates and can be sent out.
In another preferred technical scheme, use other device instead of gyroscope survey flexibility and obtain data.As an example, such method can obtain in the following manner: by measuring and analyze the distance between the multiple ultrasonic crystals being arranged on catheter surface or inside, measure on stretching catheter surface or power that the wire of inner passage is used, distortion or resistance or voltage, in conduit, suspension hook place is placed, analyze the sound wave by transmitting in conduit, or otherwise.
For in all technical schemes of the present invention, its recorded data, visual image data and Video data can show with 2D or 3D figure or color atlas.
The present invention also comprises and utilizes this device to measure and analyze the track of body cavity organ and the method for angle, described method comprises: conduit is from being incorporated into body internal cavity organ by acceptor outward opening, each gyroscope will measure the data with the three-dimensional position of time correlation, to provide the data of track along conduit longitudinal axis and angle during insertion, data transfer data to vitro data record and display device by the wire in conduit or wireless mode and carry out visual and further analysis, check and terminate rear taking-up conduit.
Further, described at least two gyroscopes are positioned at the inner and/or outer surface of conduit, the gyroscope of at least two described in using, and conduit can carry out one dimension to three-dimensional measurement.
Further, in order to evaluate the motion of health, place one or more orientation sensor outward in the cavity system of research.
Further, can increase in the quantity of region of interest zone sensors.Further, by geometry teaching principle to data analysis, comprising: the color atlas of curvature estimation, the display position of sensor, geometry pattern or the display with or without other data.
Accompanying drawing explanation
Fig. 1-1 to Fig. 1-3 is structure charts of a kind of flexible plastic conduit described in the embodiment of the present invention.
Fig. 2-1 is the distance schematic diagram between ultrasound detection sensor;
Fig. 2-2 is the distance schematic diagrams between conduit inside conductor passage.
Conduit is introduced into a schematic diagram in the path of stomach by Fig. 3 display by esophagus.
In figure: 1 is conduit; 2 is lead channels; 3 is esophagus; 4 is stomach; 5 is balloon; 6 is the passage for full balloon; 7 is gyroscope; 8 is ultrasonic crystal.
Detailed description of the invention
Below the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
With reference to accompanying drawing, now the present invention is described in detail as follows.Fig. 1 is the schematic diagram of one embodiment of the present of invention.Wherein, A): Reference numeral 7 is the gyroscope embedded in flexible conduit, a kind of flexible plastic conduit 1 shown in Fig. 1-1 and the gyroscope 7 being placed on nearly point, and wherein dotted arrow illustrates gyrostatic direction of measurement; B): the same conduit of shown in Fig. 1-2 1 and multiple gyroscope 7, some of them gyroscope 7 is placed on close to each other, interested specific region; C): the conduit of shown in Fig. 1-3 also contains other sensors as pressure transducer and an expandable balloon for stimulating, and Reference numeral 6 is the passage for full balloon.Gyroscope can be built in a larger granule, it contains and can record pressure, compressibility, angle, the sensor of position and movement velocity, is preferably used in anorectal areas, or/and a conduit 1 is connected with other devices that can take measurement of an angle, as the distance between the distance (as shown in Fig. 2-1, ultrasonic crystal 8 shown in figure) between sensor or conduit inside conductor passage (as shown in Fig. 2-2, shows two passages 2 passed through for wire in conduit in figure.When guiding-tube bend, wire can experience the change of differential tension) ultrasound detection.
Fig. 3 is conduit is introduced into the path of stomach by a display schematic diagram by esophagus, and conduit contains multiple gyroscope, and it is placed on esophagus 3 and the joint portion of stomach 4, allows to carry out Static and dynamic measurement to the geometric parameter of esophagus 3 stomach function regulating 4; Wherein dotted arrow represents moving direction.Esophagus enters the angle at stomach place, and how during physiological event, the change of angle enters esophagus to gastric acid reflux may be important.Data logger and display can show the angle change relevant to position.
How Fig. 3 shows conduit for measuring its track, particularly about the concrete utilization of angular surveying.This equipment by a conduit 1, or is expressed as probe, has near-end and distal end.Far-end is introduced in outside esophagus one opening easily arrived, i.e. mouth or nose, and passes downwardly through esophagus further and enter stomach.Near the far-end of conduit, be provided with one or more device, for measuring orientation, as minisize gyroscopes.Each gyroscope is by the data of record with the three-dimensional position of time correlation.Inserting the conduit be connected for measuring 3D orientation with one or more device, will the data of longitudinally track shaft and angle be provided during insertion.Because gyroscope also maybe in conjunction with accelerometer, therefore can can obtain detailed geometry and mechanical data by acceleration measurement.As a part for research, a fixed position can be placed in containing gyrostatic conduit and be recorded in the Parameters variation of this specified point.Therefore, the proximal end of conduit can be fixed on the outer surface of nose or any other organ.Accelerometer can provide the relevant position of sensor, and as phase boil on the nape opposite the mouth, or simple making marks on conduit can show the distance of sensor, and being exactly veutro on front side of conduit, is exactly dorsal part on rear side of conduit.Or the magnetic-susceptor of supravasal small magnet and ectosome can position conduit and sensor.
The no matter sensor of any type, they can send data to external data acquisition equipment by wired or wireless mode.If it is wireless, it can by various means, as magnetic communication, and radio communication and bluetooth.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. measure and analyze the track of health cavity organ and the device of angle for one kind, comprise the flexible conduit that can be inserted in body internal cavity organ, conduit has near-end and far-end, far-end near conduit is provided with at least two gyroscopes, gyroscope is used for measuring the data with the three-dimensional position of time correlation, to provide the data of track along conduit longitudinal axis and angle in catheterization procedure, the data of three-dimensional position are transmitted to external data acquisition equipment by wired or wireless mode.
2. device as claimed in claim 1, it is characterized in that, gyroscope combines the position and the dynamic mechanical information that obtain organ with accelerometer.
3. device as claimed in claim 1 or 2, it is characterized in that, catheter surface is with one or more sensors, and described sensor is selected from: strain gauge, piezometer, thermometer, piezo-electric apparatus, electrode sensor, ultrasonic sensor, pH recording equipment, electromyogram recording equipment one or more.
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| CN104720752B (en) * | 2015-02-13 | 2017-09-15 | 亚太仿生学有限公司 | A kind of detector and system and device for thermal imaging inside cavity structure |
| EP3422929B1 (en) * | 2016-03-04 | 2019-09-11 | Koninklijke Philips N.V. | Apparatus for vessel characterization |
| CN107049342B (en) * | 2017-05-18 | 2023-10-03 | 孙大明 | Female pelvic floor function detection and treatment probe |
| CN107307864A (en) * | 2017-08-09 | 2017-11-03 | 杨志丽 | A kind of GI Medicine alimentary canal detector |
| CN108670408A (en) * | 2018-05-28 | 2018-10-19 | 赵东生 | A kind of control method and device of interposing catheter |
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Effective date of registration: 20160216 Address after: 401121 No. 3, Mount Huangshan Avenue, North New District, Chongqing, 7-4 Patentee after: Chongqing high tech Development Co., Ltd. platinum Rui Address before: Danish C/o Ma Kell Gegen Sen Road No. 24 Eagle City Blue Patentee before: Gegensen Hans |